Repositories list

• gtsam-ct-factors

  Public
  GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

  C++

  •

  Other

  •845•0•0•0•Updated Jul 14, 2025Jul 14, 2025

• vtr3

  Public
  VT&R3 is a C++ implementation of the Teach and Repeat navigation framework. It enables a robot to be taught a network of traversable paths and then closely repeat any part of the network.

  roboticsslam

  C++

  •

  Apache License 2.0

  •26•123•12•3•Updated Jul 14, 2025Jul 14, 2025

• vtr3_pose_graph

  Public
  Python tools to load VT&R3 Pose Graphs

  Python

  •

  MIT License

  •0•0•0•1•Updated Jul 14, 2025Jul 14, 2025

• vtr3_testing

  Public
  Python

  •0•2•0•0•Updated Jul 11, 2025Jul 11, 2025

• boreas_vtr_wrapper

  Public
  Jupyter Notebook

  •0•0•0•0•Updated Jul 7, 2025Jul 7, 2025

• pyboreas

  Public
  Devkit for the Boreas autonomous driving dataset.

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •11•101•0•1•Updated Jul 7, 2025Jul 7, 2025

• certifiable-tools

  Public
  A repo for building certifiable optimization tools

  Python

  •1•7•2•4•Updated Jun 16, 2025Jun 16, 2025

• poly_matrix

  Public
  This repository contains functionalities to easily set up symmetric matrices arising in semidefinite realaxations of polynomial optimization problems.

  Python

  •0•2•0•0•Updated May 27, 2025May 27, 2025

• steam

  Public
  The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.

  cpproboticsstate-estimation

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •14•104•0•0•Updated May 13, 2025May 13, 2025

• lgmath

  Public
  Lie group math library.

  cpproboticsgeometry

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •11•38•12•0•Updated May 7, 2025May 7, 2025

• constraint_learning

  Public
  Automatically generate all constraint matrices for (lifted) QCQP problems.

  Python

  •1•17•2•1•Updated May 7, 2025May 7, 2025

• dro

  Public
  Doppler-Aware Direct Radar Odometry

  Python

  •

  MIT License

  •3•23•0•0•Updated Apr 30, 2025Apr 30, 2025

• radar_topometric_localization

  Public
  C++

  •

  MIT License

  •0•25•1•0•Updated Feb 25, 2025Feb 25, 2025

• mm_masking

  Public
  Multi-modal Masking Project Repo

  Python

  •

  MIT License

  •0•4•0•0•Updated Feb 12, 2025Feb 12, 2025

• dICP

  Public
  Differentiable ICP implementation for learning tasks.

  Python

  •

  MIT License

  •1•16•0•0•Updated Feb 3, 2025Feb 3, 2025

• sdprlayer

  Public
  Python

  •2•10•0•0•Updated Jan 30, 2025Jan 30, 2025

• steam_icp

  Public
  Continuous-time lidar, radar, lidar-inertial, and radar-inertial odometry

  C++

  •

  MIT License

  •18•214•1•0•Updated Nov 18, 2024Nov 18, 2024

• nerian_stereo_ros2

  Public
  ROS 2 driver node for Scarlet, SceneScan and Ruby stereo vision sensors by Nerian Vision GmbH

  C++

  •

  Other

  •8•0•0•0•Updated Oct 7, 2024Oct 7, 2024

• aer1513

  Public
  Repo with datasets for AER1513

  Apache License 2.0

  •0•2•0•0•Updated Oct 3, 2024Oct 3, 2024

• doppler_odom

  Public
  C++

  •

  MIT License

  •3•14•1•0•Updated Aug 18, 2024Aug 18, 2024

• casadi

  Public
  CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

  C++

  •

  GNU Lesser General Public License v3.0

  •414•0•0•0•Updated Jul 16, 2024Jul 16, 2024

• SE-Sync-Landmarks

  Public
  A fork of the original SE-Sync. Allows efficient computation of landmark-based SLAM by first marginalizing over landmark data.

  Jupyter Notebook

  •

  GNU Lesser General Public License v3.0

  •89•9•0•0•Updated Jul 4, 2024Jul 4, 2024

• deep_learned_visual_features

  Public
  Deep learned features for long-term localization in Visual Teach and Repeat

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •9•60•3•0•Updated Jun 9, 2024Jun 9, 2024

• cpo

  Public
  ROS2 project that uses raw GPS measurements from a single on-board receiver to estimate a robot's pose over time.

  AGS Script

  •

  Apache License 2.0

  •6•10•0•0•Updated Mar 26, 2024Mar 26, 2024

• safe_and_smooth

  Public
  Code associated to the paper "Safe and Smooth: Certified Continuous-Time Range-Only Localization"

  Python

  •

  BSD 2-Clause "Simplified" License

  •4•7•1•0•Updated Dec 6, 2023Dec 6, 2023

• pysteam

  Public
  Python implementation of STEAM (Simultaneous Trajectory Estimation and Mapping).

  pythonoptimization

  Jupyter Notebook

  •

  BSD 3-Clause "New" or "Revised" License

  •4•17•0•0•Updated Oct 29, 2023Oct 29, 2023

• starloc

  Public
  STAR-loc: Dataset for STereo And Range-based localization

  Python

  •1•9•0•0•Updated Oct 5, 2023Oct 5, 2023

• my580-experiments

  Public
  Repository for running experiments in Myhal 580

  Makefile

  •

  BSD 3-Clause "New" or "Revised" License

  •0•0•0•0•Updated Sep 6, 2023Sep 6, 2023

• vtr3_gui

  Public
  JavaScript

  •

  Apache License 2.0

  •1•1•0•0•Updated May 12, 2023May 12, 2023

• ros2-vicon-receiver

  Public
  Vicon Receiver for ROS2

  C++

  •

  GNU General Public License v3.0

  •42•4•0•0•Updated May 10, 2023May 10, 2023